A method for supervising construction of power transmission lines based on airship

Abstract

The present invention discloses a method for supervising the construction of a power transmission line based on an airship, and the specific steps are as follows: step a: selecting a lifting field for the airship; step b: leveling the lifting field; step c: transporting the airship to the lifting field, and installing a shooting device on the airship; step d: the airship flies from the lifting field to the construction site and shoots the construction site, and transmits the shot image back to a monitoring center. In order to solve the shortcomings of the existing supervision method, which has many safety hazards and great management difficulty, the present invention proposes a method for supervising the construction of a power transmission line based on an airship, which has few safety hazards.

Description

Technical Field

[0001] The present invention relates to the technical field of construction supervision methods, and in particular to an airship-based power transmission line construction supervision method. Background Art

[0002] At present, the construction supervision of overhead power transmission line projects is mostly carried out in the form of on-site supervision engineers, supervisors and other multi-person inspections, on-site supervision, and parallel inspection supervision. In actual sites, there are problems with projects not being completed on schedule, and supervision consumes a lot of manpower, especially since power projects are technology-intensive and have a high level of safety risks, requiring a large number of supervisors to conduct on-site safety / quality inspections and on-site supervision. Especially for projects located in mountainous areas, due to the harsh environment and complex terrain, the increase in personnel will undoubtedly increase safety hazards. Summary of the invention

[0003] In order to solve the shortcomings of the existing supervision method, which has many potential safety hazards, the present invention proposes a power transmission line construction supervision method based on an airship, which has few potential safety hazards.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A method for supervising the construction of a power transmission line based on an airship, the specific steps are as follows:

[0006] Step a: Select the lifting field for the airship; Step b: Level the lifting field; Step c: Move the airship to the lifting field and install a shooting device on the airship; Step d: The airship flies from the lifting field to the construction site and shoots the construction site, and transmits the shot images back to the monitoring center.

[0007] Through the above settings, personnel do not need to go to the construction site for supervision, reducing safety hazards. Specifically, the existing airship can be remotely controlled to fly. By installing a shooting device on the airship, and then controlling the airship to fly above the construction site, the shooting device on the airship will shoot the construction site and send the shot image back to the monitoring center through a wireless transmission device. The monitoring center is equipped with multiple servers and displays. The server can receive the image transmitted back by the wireless transmission device and display it through the display. The personnel of the monitoring center supervise the construction site through the image on the display. When illegal operations or safety hazards are found at the construction site, the personnel at the construction site can be contacted by phone to remind them.

[0008] Furthermore, the airship includes a suspension device, a power device and a power supply device. The suspension device includes a main airbag and a secondary airbag. The main airbag is provided with helium, and the secondary airbag is provided with air. The secondary airbag is connected to an inflation device for conveying air to the secondary airbag through a tube. The tube is provided with an electromagnetic valve. The inflation device and the electromagnetic valve are both connected to the power supply device.

[0009] Through the above arrangement, the airship can be lifted and lowered by the inflatable device. Specifically, the mass of helium in the main airbag remains unchanged. When the inflatable device delivers air to the auxiliary airbag, the pressure in the auxiliary airbag increases, the volume of the auxiliary airbag increases, and the surface area of ​​the main airbag remains basically unchanged, so the volume of the space between the main airbag and the auxiliary airbag decreases, the density of the helium in the main airbag increases, and when the density of the helium in the main airbag increases to a certain extent, the airship descends; on the contrary, when the auxiliary airbag outputs air to the outside through the tube, the volume of the auxiliary airbag decreases, the volume of the space between the main airbag and the auxiliary airbag increases, the density of the helium in the main airbag decreases, and when the density of the helium in the main airbag decreases to a certain extent, the airship descends; in addition, by adjusting the pressure of the auxiliary airbag through the inflatable device, the airship can be suspended in the air. When the solenoid valve is closed, the pressure of the auxiliary airbag can be maintained unchanged. At this time, the inflatable device can be closed to save the power of the power supply device. Specifically, the inflatable device can be set as an air compressor, and the power supply device can be set as a battery. The power device is used to drive the airship forward.

[0010] Furthermore, the power supply device is arranged on the lower side of the suspension device, and the power device includes a first drive motor and a second drive motor. The first drive motor and the second drive motor are arranged on opposite sides of the power supply device and are both connected to the power supply device. The first drive motor is connected to the first blade, and the second drive motor is connected to the second blade.

[0011] Through the above arrangement, the weight of the power supply device is relatively large. The power supply device is arranged on the lower side of the suspension device to maintain the stability of the airship. The first drive motor is close to the left side of the airship, and the second drive motor is close to the right side of the airship. When the first blade and the second blade rotate at the same speed, the first blade and the second blade output air backwards, the airflow speed output by the first blade is equal to the airflow speed output by the second blade, and the airship moves forward. When the rotation speed of the first drive motor on the left side is less than the rotation speed of the second drive motor on the right side, the airflow speed output by the first blade is less than the airflow speed output by the second blade, and the airship turns left. When the rotation speed of the first drive motor on the left side is greater than the rotation speed of the second drive motor on the right side, the airflow speed output by the first blade is greater than the airflow speed output by the second blade, and the airship turns right.

[0012] Furthermore, the photographing device includes a first camera arranged at the lower side of the power supply device.

[0013] Through the above arrangement, it is convenient for the shooting device to shoot the construction site under the airship.

[0014] Furthermore, the auxiliary airbag is arranged inside the main airbag and at the lower side of the main airbag, and the inflation device is arranged at the lower side of the main airbag.

[0015] Through the above settings, the stability of the airship is further improved.

[0016] Furthermore, a plurality of wing panels are provided on the main airbag, and the wing panels extend from the head to the tail of the airship.

[0017] Through the above settings, the stability of the airship is further improved.

[0018] Furthermore, in step b, a parking device is provided on the construction site. In step d, the airship flies to the parking device, the head of the airship is connected to the parking device, the pressure of the auxiliary airbag is reduced, and under the action of buoyancy, the airship rotates to a vertical state, with the tail of the airship facing upward and the head facing downward, and the parking device limits the airship above the construction site.

[0019] Through the above arrangement, the airship can be stably suspended above the construction site. Specifically, when the airship flies to the construction site and takes pictures of the construction site, it needs to be stably suspended above the construction site. The airship station device is fixed on the ground. When the airship wants to float upward, the airship station device pulls the airship to prevent the airship from moving upward. At this time, the airship station device is subjected to tension. When the airship is subjected to upward airflow, the airship will not move upward. When the airship is subjected to downward airflow, the buoyancy of the airship resists the airflow to prevent the airship from moving downward, and finally the distance between the airship and the ground remains basically unchanged, that is, the distance between the shooting device and the ground remains basically unchanged, thereby ensuring stable shooting. In addition, in this process, the pressure of the main airbag and the auxiliary airbag remains unchanged, that is, the inflation device does not need to repeatedly adjust the air pressure of the auxiliary airbag to maintain the stability of the airship, thereby saving the power of the power supply device.

[0020] Furthermore, the main airbag includes a duct portion and a support portion, the support portion is arranged along the circumference of the duct portion, and both ends of the duct portion are connected to corresponding ends of the support portion, a cavity is formed between the duct portion and the support portion, helium is arranged in the cavity, the auxiliary airbag is arranged in the cavity and on the lower side of the cavity, an air inlet pipe is arranged at one end of the duct portion, and an air outlet pipe is arranged at the other end of the duct portion, the power device includes a third drive motor arranged in the air inlet pipe, the third drive motor is connected to a third blade, the shooting device includes a plurality of second cameras arranged on the outside of the support portion, the second cameras are arranged in sequence from the head to the tail of the airship, the stationary device includes a base arranged on the construction site, the base is connected to a pull wire, a suspension ball is arranged at one end of the pull wire away from the base, hydrogen is arranged in the suspension ball, the inner diameter of the air inlet pipe is adapted to the suspension ball, and a limiting device for limiting the suspension ball in the air inlet pipe is arranged at one end of the air inlet pipe away from the air outlet pipe.

[0021] Through the above arrangement, the connection between the stationary device and the airship can be realized. Specifically, when the airship is flying, the main airbag basically extends from the head to the tail of the airship, one end of the air duct is located at the head of the airship, and the other end is located at the tail of the airship, the air inlet is arranged at the head of the airship, and the air outlet is arranged at the tail of the airship. When the airship is flying, the third drive motor drives the third blade to rotate, and the third blade outputs the air at the head of the airship to the tail through the air duct. The air inlet and air outlet ensure the shape of the two ends of the air duct, thereby driving the airship forward. Hydrogen is arranged in the suspension ball, and the density of hydrogen is small. The buoyancy of the suspension ball overcomes the gravity of the pulling wire, so that the pulling wire extends upward. When the air inlet pipe at the head of the airship approaches the suspension ball, the suspension ball is sucked into the air inlet pipe by the airflow, and the limit device prevents the suspension ball from leaving the air inlet pipe. At this time, the third drive motor stops, and the airship stops moving forward. Then the inflation device adjusts the pressure of the auxiliary airbag to reduce the pressure of the auxiliary airbag, thereby making the airship float up. Under the action of buoyancy, the airship rotates, that is, the tail of the airship floats upward, and the head of the airship does not float upward because it is connected to the pulling wire, and finally the airship is in a vertical state.

[0022] The construction of transmission lines often includes the construction of power towers. The height of power towers is relatively large. Since the distance from the head to the tail of the airship is relatively large, the airship is in a vertical state at this time, and the second camera is arranged from the head to the tail of the airship in sequence, so that the second camera is distributed from bottom to top on one side of the power tower, which greatly increases the coverage range of the shooting device on the power tower, thereby facilitating the supervision of the construction of the power tower.

[0023] Furthermore, a protective bracket is fixedly connected in the air inlet duct, and the protective bracket is arranged between the third blade and the limiting device, and an accommodating space for accommodating the suspended ball is formed between the protective bracket and the limiting device, and the limiting device includes two limiting plates, and the two limiting plates are arranged on opposite sides of one end of the air inlet duct, and one end of the limiting plate away from the other limiting plate is rotatably connected to the air inlet duct, and a first support rod is arranged on the side of the limiting plate close to the air outlet duct, and a second support rod is arranged on the side of the limiting plate away from the air outlet duct, and the first support rod and the second support rod are both arc-shaped, and the centers of the first support rod and the second support rod coincide and are located at the end of the corresponding limiting plate away from the other limiting plate, and a first support rod is arranged inside the wall of the air outlet duct. A slide slot and a second slide slot, the first slide slot is provided with a first sliding block at one end near the first support rod, the first sliding block is slidably connected to the first slide slot and fixedly connected to the first support rod, the first support rod one end away from the first sliding block abuts against the limit plate, the second slide slot is provided with a second sliding block at one end near the second support rod, the second sliding block is slidably connected to the second slide slot and fixedly connected to the second support rod, and the second support rod one end away from the second sliding block abuts against the limit plate, a first spring is provided in the first slide slot for applying a force to the first sliding block toward the first support rod, and a second spring is provided in the second slide slot for applying a force to the second sliding block toward the second support rod, and the stiffness of the second spring is greater than the stiffness of the first spring.

[0024] Through the above arrangement, when the airship is flying, when the airflow passes through the limit plate and the air duct part, the limit plate rotates toward the air outlet duct, the limit plate pushes the first support rod, the first support rod rotates around the center of the circle of the first support rod and pushes the first slider to move along the first slide groove, the first spring shortens, and when the suspension ball enters the accommodation space, the third blade stops rotating, and the protective bracket can prevent the suspension ball from being damaged by the rotating third blade. When the third blade stops rotating, there is basically no airflow in the air inlet duct. Under the action of the first spring, the first support rod pushes the limit plate to rotate until the limit plate and the second support rod abut. At this time, the pull wire is located between the limit plates, and the stiffness of the second spring is relatively large. The limit plate will not easily rotate to the side away from the air outlet duct, that is, under the tension of the pull wire, the suspension ball will not push the limit plate and come out of the air inlet duct. At this point, the two limit plates and the protective bracket limit the suspension ball in the accommodation space.

[0025] When the airship needs to be disconnected from the stationary device and fly back to the landing field, the pressure of the auxiliary airbag is reduced, and the density of helium is further reduced. In addition, the third blade rotates under the action of the third drive motor, and the third blade makes the air at the tail of the airship move toward the head through the wind pipe part, and the air pressure on the upper side of the suspension ball increases. Under the action of air pressure and buoyancy, the suspension ball pushes the limit plate, and the limit plate rotates downward, and the second support rod rotates around the center of the second support rod. The second support rod pushes the second slider, and the second slider squeezes the second spring, and finally the suspension ball leaves the lower end of the air intake pipe. After the airship is disconnected from the stationary device, the airship continues to return to the horizontal state.

[0026] Furthermore, the airship also includes a counterweight device, which includes an annular track mounted on the middle part of the main airbag, two counterweight assemblies are slidably connected to the annular track, the counterweight assembly includes a main body slidably connected to the annular track, an annular rack is fixedly connected to the outer side of the annular track, the main body is fixedly connected to a fourth drive motor, the fourth drive motor is connected to a gear, the gear and the annular rack are meshed, and the fourth drive motor is connected to a power supply device.

[0027] The above arrangement can improve the stability of the airship during flight. Specifically, during flight, the two counterweight assemblies abut against each other and are located on the lower side of the main airbag, preventing the airship from rotating around its own axis during flight. When the airship is in a vertical state, the two counterweight assemblies are located on opposite sides of the airship, so that the airship will not tilt. The fourth drive motor is used to drive the gear to rotate, thereby driving the counterweight assembly to move along the circular track.

[0028] Furthermore, a first control panel is attached to the upper side of the wing panel on the left side of the main airbag, and a second control panel is attached to the upper side of the wing panel on the right side of the main airbag. One end of the first control panel close to the rear side of the airship is rotatably connected to the wing panel, and the wing panel is provided with a control motor for driving the first control panel to rotate. One end of the second control panel close to the rear side of the airship is rotatably connected to the wing panel, and the wing panel is provided with a control motor for driving the second control panel to rotate, and the control motor is connected to the power supply device.

[0029] The above arrangement can control the flight direction of the airship. Specifically, when the first control plate fits the wing plate, and the second control plate fits the wing plate, the airship flies forward, when the first control plate rotates to be perpendicular to the wing plate under the control of the motor, the air resistance on the left side of the airship is greater than the air resistance on the right side, and the airship turns left, when the second control plate rotates to be perpendicular to the wing plate under the control of the motor, the air resistance on the right side of the airship is greater than the air resistance on the left side, and the airship turns right. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the airship of Example 1.

[0031] Figure 2 This is a rear view of the airship of Example 1.

[0032] Figure 3 This is a top view of the airship of Example 2.

[0033] Figure 4 This is a DD cross-sectional view of the airship of Example 2.

[0034] Figure 5 for Figure 4 AA section view.

[0035] Figure 6 for Figure 4 Enlarged view of point B.

[0036] Figure 7 This is a schematic diagram of the airship of Example 2 flying forward.

[0037] Figure 8 for Figure 3 CC cross-sectional view.

[0038] Fig. 9 This is a schematic diagram of the airship of Example 2 flying to the airship station.

[0039] Fig.10 Schematic diagram of the suspended ball entering the containing space.

[0040] Fig.11 This is a schematic diagram of the airship of Example 2 in a vertical state.

[0041] Fig.12 This is a schematic diagram of the suspended ball moving downward and leaving the air inlet pipe. DETAILED DESCRIPTION

[0042] The technical solution of the present invention is further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0043] Embodiment 1:

[0044] See also Figure 1 to Figure 2 , a transmission line construction supervision method based on airship 100, the specific steps are as follows:

[0045] Step a: select a lifting field for the airship 100; step b: level the lifting field; step c: move the airship 100 to the lifting field and install the shooting device 14 on the airship 100; step d: the airship 100 flies from the lifting field to the construction site and shoots the construction site, and transmits the shot images back to the monitoring center.

[0046] Through the above arrangement, personnel do not need to go to the construction site for supervision, reducing safety hazards. Specifically, the existing airship 100 can be remotely controlled to fly, by installing a shooting device 14 on the airship 100, and then controlling the airship 100 to fly above the construction site, the shooting device 14 on the airship 100 shoots the construction site and transmits the shot image back to the monitoring center through a wireless transmission device. The monitoring center is equipped with multiple servers and displays. The server can receive the image transmitted back by the wireless transmission device and display it through the display. The personnel of the monitoring center supervise the construction site through the image on the display. When illegal operations or safety hazards are found at the construction site, the personnel at the construction site can be contacted by phone to remind them.

[0047] As an implementation method, the airship 100 includes a suspension device 11, a power device 12 and a power supply device. The suspension device 11 includes a main airbag 111 and a secondary airbag 112. The main airbag 111 is provided with helium, and the secondary airbag 112 is provided with air. The secondary airbag 112 is connected to an inflation device 113 for supplying air to the secondary airbag 112 through a pipe. The pipe is provided with a solenoid valve 114. The inflation device 113 and the solenoid valve 114 are both connected to the power supply device.

[0048] Through the above arrangement, the airship 100 can be lifted and lowered by utilizing the inflatable device 113 . Specifically, the mass of helium in the main airbag 111 remains unchanged. When the inflator 113 delivers air to the auxiliary airbag 112, the pressure in the auxiliary airbag 112 increases, the volume of the auxiliary airbag 112 increases, and the surface area of ​​the main airbag remains basically unchanged, so the volume of the space between the main airbag and the auxiliary airbag decreases, the density of the helium in the main airbag 111 increases, and when the density of the helium in the main airbag increases to a certain extent, the airship 100 descends; on the contrary, when the auxiliary airbag 112 outputs air to the outside through the tube, the volume of the auxiliary airbag decreases, the volume of the space between the main airbag and the auxiliary airbag increases, the density of the helium in the main airbag decreases, and when the density of the helium in the main airbag decreases to a certain extent, the airship 100 descends; in addition, by adjusting the pressure of the auxiliary airbag 112 through the inflator 113, the airship 100 can be suspended in the air. When the solenoid valve 114 is closed, the pressure of the auxiliary airbag 112 can be maintained unchanged. At this time, the inflator 113 can be closed to save the power of the power supply device. Specifically, the inflating device 113 can be configured as an air compressor, and the power supply device can be configured as a battery. The power device 12 is used to drive the airship 100 forward.

[0049] As an implementation method, the power supply device is arranged on the lower side of the suspension device 11, and the power device 12 includes a first drive motor 121 and a second drive motor 122. The first drive motor 121 and the second drive motor 122 are arranged on opposite sides of the power supply device and are both connected to the power supply device. The first drive motor 121 is connected to a first blade 123, and the second drive motor 122 is connected to a second blade 124.

[0050] Through the above arrangement, the weight of the power supply device is relatively large. The power supply device is arranged at the lower side of the suspension device 11, which can maintain the stability of the airship 100. The first drive motor 121 is close to the left side of the airship 100, and the second drive motor 122 is close to the right side of the airship 100. When the first blade 123 and the second blade 124 rotate at the same speed, the first blade 123 and the second blade 124 output air backward, and the airflow speed output by the first blade 123 is equal to the airflow speed output by the second blade 124, and the airship 100 moves forward. When the rotation speed of the first drive motor 121 on the left side is less than the rotation speed of the second drive motor 122 on the right side, the airflow speed output by the first blade 123 is less than the airflow speed output by the second blade 124, and the airship 100 turns left. When the rotation speed of the first drive motor 121 on the left side is greater than the rotation speed of the second drive motor 122 on the right side, the airflow speed output by the first blade 123 is greater than the airflow speed output by the second blade 124, and the airship 100 turns right.

[0051] As an implementation manner, the photographing device 14 includes a first camera 141 disposed at the lower side of the power supply device.

[0052] Through the above arrangement, it is convenient for the photographing device 14 to photograph the construction site below the airship 100 .

[0053] As an implementation manner, the secondary airbag 112 is disposed inside the main airbag 111 and at the lower side of the main airbag 111 , and the inflator 113 is disposed at the lower side of the main airbag 111 .

[0054] Through the above arrangement, the stability of the airship 100 is further improved.

[0055] As an implementation manner, a plurality of wing panels 1111 are provided on the main airbag 111 , and the wing panels 1111 extend from the head to the tail of the airship 100 .

[0056] Through the above arrangement, the stability of the airship 100 is further improved.

[0057] Embodiment 2:

[0058] See also Figures 3 to 12 , a transmission line construction supervision method based on airship, the specific steps are as follows:

[0059] Step a: Select a lifting field for the airship 100; Step b: Level the lifting field; Step c: Move the airship 100 to the lifting field, install a shooting device 14 on the airship 100, and set a boat stationing device 21 on the construction site; Step d: The airship 100 flies to the boat stationing device 21, the head of the airship 100 is connected to the boat stationing device 21, the pressure of the auxiliary airbag is reduced, and under the action of buoyancy, the airship 100 rotates to a vertical state, the tail of the airship 100 faces upward and the head faces downward, the boat stationing device 21 limits the airship 100 above the construction site, and the airship 100 shoots the construction site through the shooting device 14, and transmits the shot image back to the monitoring center.

[0060] Through the above arrangement, the airship 100 can be stably suspended above the construction site. Specifically, when the airship 100 flies to the construction site and shoots the construction site, it needs to be stably suspended above the construction site. The airship station device 21 is fixed on the ground. When the airship wants to float upward, the airship station device 21 pulls the airship 100 to prevent the airship 100 from moving upward. At this time, the airship station device 21 is subjected to tension. When the airship 100 is subjected to an upward airflow, the airship 100 will not move upward. When the airship 100 is subjected to a downward airflow, the buoyancy of the airship 100 resists the airflow to prevent the airship 100 from moving downward, and finally the distance between the airship 100 and the ground remains basically unchanged, that is, the distance between the shooting device 14 and the ground remains basically unchanged, thereby ensuring stable shooting. In addition, in this process, the pressure of the main airbag 111 and the auxiliary airbag 112 remains unchanged, that is, the inflatable device 113 does not need to repeatedly adjust the air pressure of the auxiliary airbag 112 to maintain the stability of the airship 100, thereby saving the power of the power supply device.

[0061] As an implementation method, the airship 100 includes a suspension device 11, a power device 12 and a power supply device. The suspension device 11 includes a main airbag 111 and a secondary airbag 112. The main airbag 111 is provided with helium, and the secondary airbag 112 is provided with air. The secondary airbag 112 is connected to an inflation device 113 for supplying air to the secondary airbag 112 through a pipe. The pipe is provided with a solenoid valve 114. The inflation device 113 and the solenoid valve 114 are both connected to the power supply device.

[0062] As an implementation method, the main airbag 111 includes an air duct portion 1112 and a support portion 1113, the support portion 1113 is arranged along the circumference of the air duct portion 1112, and the two ends of the air duct portion 1112 are connected to the corresponding ends of the support portion 1113, a cavity 1114 arranged around the circumference of the air duct portion 1112 is formed between the air duct portion 1112 and the support portion 1113, helium is arranged in the cavity 1114, the auxiliary airbag 112 is arranged in the cavity 1114 and at the lower side of the cavity 1114, an air inlet pipe 1115 is arranged at one end of the air duct portion 1112, and an air outlet pipe 1116 is arranged at the other end of the air duct portion 1112, the power device 12 includes a third drive motor 125 arranged in the air inlet pipe 1115, and the third drive motor 125 is arranged in the third drive motor 125. The three driving motors 125 are connected to the third blades 126. The shooting device 14 includes a plurality of second cameras 142 arranged on the outside of the support portion 1113. The second cameras 142 are arranged in sequence from the head to the tail of the airship 100. The stationary device 21 includes a base 211 arranged on the construction site. Specifically, the base 211 is fixed on the ground of the construction site. The base 211 is connected to a pull wire 212. A suspension ball 213 is arranged at one end of the pull wire 212 away from the base 211. Hydrogen is arranged in the suspension ball 213. The inner diameter of the air inlet pipe 1115 is adapted to the suspension ball 213. A limiting device 11151 for limiting the suspension ball 213 in the air inlet pipe 1115 is arranged at one end of the air inlet pipe 1115 away from the air outlet pipe 1116.

[0063] Through the above arrangement, the connection between the stationary device 21 and the airship 100 can be realized. Specifically, when the airship 100 is flying, the main airbag 111 basically extends from the head to the tail of the airship 100, one end of the air duct part 1112 is located at the head of the airship 100, and the other end is located at the tail of the airship 100, the air inlet 1115 is arranged at the head of the airship 100, and the air outlet 1116 is arranged at the tail of the airship 100. Figure 7 When the airship 100 is flying, the third driving motor 125 drives the third blade 126 to rotate, and the third blade 126 outputs the air at the head of the airship 100 to the tail through the air duct 1112. The air inlet duct 1115 and the air outlet duct 1116 ensure the shape of both ends of the air duct 1112, thereby driving the airship 100 forward. Fig. 9, hydrogen is arranged in the suspension ball 213, and the density of hydrogen is small. The buoyancy of the suspension ball 213 overcomes the gravity of the pull line 212, so that the pull line 212 extends upward. When the air inlet pipe 1115 at the head of the airship 100 approaches the suspension ball 213, the suspension ball 213 is sucked into the air inlet pipe 1115 by the airflow, and the limiting device 11151 prevents the suspension ball 213 from leaving the air inlet pipe 1115. At this time, the third driving motor 125 stops, and the airship 100 stops moving forward. Then the inflation device 113 adjusts the pressure of the auxiliary airbag 112 to reduce the pressure of the auxiliary airbag 112, thereby making the airship 100 float up. Under the action of buoyancy, the airship 100 rotates, that is, the tail of the airship 100 floats upward, and the head of the airship 100 is connected to the pull line 212, so that the head of the airship 100 will not float upward, and finally the airship 100 is in a vertical state, see Fig.10 and Fig.11 .

[0064] The construction of transmission lines often includes the construction of power towers. The height of the power towers is relatively large. Since the distance from the head to the tail of the airship 100 is relatively large, the airship 100 is in a vertical state at this time, and the second cameras 142 are arranged in sequence from the head to the tail of the airship 100, so that the second cameras 142 are distributed from bottom to top on one side of the power tower, which greatly increases the coverage of the shooting device 14 on the power tower, thereby facilitating the supervision of the construction of the power tower.

[0065] As an implementation method, a protective bracket 11152 is fixedly connected to the air inlet pipe 1115, and the protective bracket 11152 is arranged between the third blade 126 and the limiting device 11151. A receiving space 11153 for receiving the suspension ball 213 is formed between the protective bracket 11152 and the limiting device 11151. The limiting device 11151 includes two limiting plates 11154, and the two limiting plates 11154 are arranged on opposite sides of one end of the air inlet pipe 1115. The limiting plate 11154 is away from one end of the other limiting plate 11154 and the air inlet pipe 1115. The air duct 1115 is rotatably connected, a first support rod 11155 is provided on the side of the limit plate 11154 close to the air outlet duct 1116, and a second support rod 11156 is provided on the side of the limit plate 11154 away from the air outlet duct 1116. The first support rod 11155 and the second support rod 11156 are both arc-shaped, and the centers of the first support rod 11155 and the second support rod 11156 coincide and are located at the end of the corresponding limit plate 11154 away from the other limit plate 11154. The interior of the wall of the air outlet duct 1116 is provided with a first slide groove 111 61 and a second slide groove 11162, a first slide groove 11161 is provided with a first slider 11163 at one end close to the first support rod 11155, the first slider 11163 is slidably connected to the first slide groove 11161 and fixedly connected to the first support rod 11155, an end of the first support rod 11155 away from the first slider 11163 is abutted against the limit plate 11154, and a second slide groove 11162 is provided with a second slider 11164 at one end close to the second support rod 11156, and the second slider 11164 and the second slide groove 11162 slide It is connected and fixedly connected to the second support rod 11156, and one end of the second support rod 11156 away from the second slider 11164 abuts against the limit plate 11154. A first spring 11165 is provided in the first slide groove 11161 for applying a force to the first slider 11163 toward the first support rod 11155. A second spring 11166 is provided in the second slide groove 11162 for applying a force to the second slider 11164 toward the second support rod 11156. The stiffness of the second spring 11166 is greater than that of the first spring 11165.

[0066] With the above settings, see Figure 7When the airship 100 is flying, when the airflow passes through the limit plate 11154 and the air duct portion 1112, the limit plate 11154 rotates toward the air outlet 1116, and the limit plate 11154 pushes the first support rod 11155. The first support rod 11155 rotates around the center of the first support rod 11155 and pushes the first slider 11163 to move along the first slide groove 11161. The first spring 11165 shortens. When the suspension ball 213 enters the accommodating space 11153, the third blade 126 stops rotating, and the protective bracket 11152 can prevent the suspension ball 213 from being damaged by the rotating third blade 126. When the third blade 126 stops rotating, there is basically no airflow in the air inlet pipe 1115. Under the action of the first spring 11165, the first support rod 11155 pushes the limit plate 11154 to rotate until the limit plate 11154 abuts against the second support rod 11156. At this time, the pull wire 212 is located between the limit plates 11154. Fig.10 The second spring 11166 has a greater stiffness, and the limit plate 11154 will not easily rotate to the side away from the air outlet pipe 1116, that is, under the pulling force of the pull wire 212, the suspension ball 213 will not push the limit plate 11154 and come out of the air inlet pipe 1115. At this point, the two limit plates 11154 and the protective bracket 11152 limit the suspension ball 213 in the accommodating space 11153.

[0067] See also Fig.12 When the airship 100 needs to be disconnected from the parking device 21 and fly back to the landing field, the pressure of the auxiliary airbag is reduced, and the density of the helium is further reduced. In addition, the third blade 126 rotates under the action of the third driving motor 125, and the third blade 126 makes the air at the tail of the airship 100 move toward the head through the wind pipe part 1112, and the air pressure on the upper side of the suspension ball 213 increases. Under the action of air pressure and buoyancy, the suspension ball 213 pushes the limit plate 11154, and the limit plate 11154 rotates downward, and the second support rod 11156 rotates around the center of the second support rod 11156. The second support rod 11156 pushes the second slider 11164, and the second slider 11164 squeezes the second spring 11166, and finally the suspension ball 213 leaves from the lower end of the air intake pipe. After the airship 100 is disconnected from the parking device 21, the airship 100 continues to return to the horizontal state.

[0068] As an implementation method, the airship 100 also includes a counterweight device 15, which includes an annular track 151 sleeved on the middle part of the main airbag 111, and two counterweight assemblies 152 are slidably connected to the annular track 151. The counterweight assembly 152 includes a main body 1521 slidably connected to the annular track 151, and an annular rack 153 is fixedly connected to the outer side of the annular track 151. The main body 1521 is fixedly connected to a fourth drive motor 1522, and the fourth drive motor 1522 is connected to a gear 1523. The gear 1523 and the annular rack 153 are meshed, and the fourth drive motor 1522 is connected to a power supply device.

[0069] Through the above configuration, the stability of the airship 100 during flight can be improved. For details, see Figure 5 During flight, the two counterweight assemblies 152 abut against each other and are located at the lower side of the main airbag 111, preventing the airship 100 from rotating around its own axis during flight. When the airship 100 is in a vertical state, the two counterweight assemblies 152 are located on opposite sides of the airship 100, so that the airship 100 will not tilt. The fourth driving motor 1522 is used to drive the gear 1523 to rotate, thereby driving the counterweight assembly 152 to move along the annular track 151.

[0070] As an implementation manner, a plurality of wing panels 1111 are provided on the main airbag 111 , and the wing panels 1111 extend from the head to the tail of the airship 100 .

[0071] As an implementation method, a first control panel 11111 is attached to the upper side of the wing panel 1111 on the left side of the main airbag 111, and a second control panel 11112 is attached to the upper side of the wing panel 1111 on the right side of the main airbag 111. One end of the first control panel 11111 close to the rear side of the airship 100 is rotatably connected to the wing panel 1111, and the wing panel 1111 is provided with a control motor 11113 for driving the first control panel 11111 to rotate. One end of the second control panel 11112 close to the rear side of the airship 100 is rotatably connected to the wing panel 1111, and the wing panel 1111 is provided with a control motor 11113 for driving the second control panel 11112 to rotate, and the control motor 11113 is connected to the power supply device.

[0072] Through the above settings, the flight direction of the airship 100 can be controlled. Figure 3 and Figure 8When the first control panel 11111 and the wing panel 1111 are in contact with each other, and the second control panel 11112 and the wing panel 1111 are in contact with each other, the airship 100 flies forward. When the first control panel 11111 rotates to be perpendicular to the wing panel 1111 under the action of the control motor 11113, the air resistance on the left side of the airship 100 is greater than the air resistance on the right side. At this time, the airship 100 turns left. When the second control panel 11112 rotates to be perpendicular to the wing panel 1111 under the action of the control motor 11113, the air resistance on the right side of the airship 100 is greater than the air resistance on the left side. At this time, the airship 100 turns right.

[0073] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A method for supervising the construction of a power transmission line based on an airship, the specific steps are as follows: Step a: Select the landing field for the airship; Step b: leveling the lifting field; Step c: transporting the airship to the lifting field, and installing a shooting device on the airship; Step d: The airship flies from the lift field to the construction site and takes photos of the construction site, and transmits the taken images back to the monitoring center; The airship comprises a suspension device, a power device and a power supply device, the suspension device comprises a main airbag and a secondary airbag, the main airbag is provided with helium, the secondary airbag is provided with air, the secondary airbag is connected to an inflation device for conveying air to the secondary airbag through a pipe, the pipe is provided with a solenoid valve, the inflation device and the solenoid valve are both connected to the power supply device; The main airbag is provided with a plurality of wing panels, and the wing panels extend from the head to the tail of the airship; In step b, a boat station device is provided on the construction site. In step d, the airship flies to the boat station device, the head of the airship is connected to the boat station device, the pressure of the auxiliary airbag is reduced, and under the action of buoyancy, the airship rotates to a vertical state, the tail of the airship faces upward and the head faces downward, and the boat station device limits the airship above the construction site; The invention is characterized in that the main airbag comprises an air duct portion and a support portion, the support portion is arranged along the circumference of the air duct portion, and the two ends of the air duct portion are connected to the corresponding ends of the support portion, a cavity is formed between the air duct portion and the support portion, the helium is arranged in the cavity, an air inlet pipe is arranged at one end of the air duct portion, and an air outlet pipe is arranged at the other end of the air duct portion, the power device comprises a third drive motor arranged in the air inlet pipe, the third drive motor is connected to a third blade, the shooting device comprises a plurality of second cameras arranged on the outside of the support portion, the second cameras are arranged in sequence from the head to the tail of the airship, the stationary device comprises a base arranged on the construction site, the base is connected to a pull wire, a suspension ball is arranged at one end of the pull wire away from the base, hydrogen is arranged in the suspension ball, the inner diameter of the air inlet pipe is adapted to the suspension ball, and a limiting device for limiting the suspension ball in the air inlet pipe is arranged at one end of the air inlet pipe away from the air outlet pipe.

2. A method for supervising power line construction based on airship according to claim 1, characterized in that: The power supply device is arranged at the lower side of the suspension device, and the power device includes a first drive motor and a second drive motor. The first drive motor and the second drive motor are arranged on opposite sides of the power supply device and are both connected to the power supply device. The first drive motor is connected to a first blade, and the second drive motor is connected to a second blade.

3. The airship-based power transmission line construction supervision method according to claim 1, characterized in that: The auxiliary airbag is arranged inside the main airbag and at the lower side of the main airbag, and the inflator is arranged at the lower side of the main airbag.

4. The airship-based power transmission line construction supervision method according to claim 1, characterized in that: The air intake duct is fixedly connected with a protective bracket, and the protective bracket is arranged between the third blade and the limit device, and a accommodating space for accommodating the suspended ball is formed between the protective bracket and the limit device, and the limit device comprises two limit plates, and the two limit plates are arranged on opposite sides of one end of the air intake duct, and the end of the limit plate away from the other limit plate is rotatably connected to the air intake duct. A first support rod is arranged on the side of the limit plate close to the air outlet duct, and a second support rod is arranged on the side of the limit plate away from the air outlet duct, the first support rod and the second support rod are both arc-shaped, and the center of the circle of the first support rod and the second support rod coincide and are located at the end of the corresponding limit plate away from the other limit plate, and a first slide groove and a second slide groove are arranged inside the wall of the air outlet duct. The cam is an angular channel that is configured to move the first slider toward the side of the support frame, and the cam is a vertical channel that is configured to move the first slider toward the side of the support frame. The cam is a vertical channel that is configured to move the first slider toward the side of the support frame. The cam is a vertical channel that is configured to move the first slider toward the side of the support frame. The cam is a vertical channel that is configured to move the second slider toward the side of the support frame.

5. The airship-based power transmission line construction supervision method according to claim 1, characterized in that: The airship also includes a counterweight device, which includes an annular track sleeved on the middle part of the main airbag, two counterweight assemblies are slidably connected to the annular track, and the counterweight assembly includes a main body slidably connected to the annular track, an annular rack is fixedly connected to the outer side of the annular track, and a fourth drive motor is fixedly connected to the main body, and the fourth drive motor is connected to a gear, the gear and the annular rack are meshed, and the fourth drive motor is connected to the power supply device.

6. The airship-based power transmission line construction supervision method according to claim 1, characterized in that: A first control panel is attached to the upper side of the wing panel on the left side of the main airbag, and a second control panel is attached to the upper side of the wing panel on the right side of the main airbag. One end of the first control panel close to the rear side of the airship is rotatably connected to the wing panel, and the wing panel is provided with a control motor for driving the first control panel to rotate. One end of the second control panel close to the rear side of the airship is rotatably connected to the wing panel, and the wing panel is provided with a control motor for driving the second control panel to rotate, and the control motor is connected to the power supply device.

Images